The invention relates to the technical field of vehicle control, in particular to a rear wheel steering control method of a vehicle, a steering controller, a medium and the vehicle. The first rear wheel steering model is used for carrying out rear wheel steering angle calculation on the real vehicle data to obtain a first rear wheel steering angle, and the second rear wheel steering model is used for carrying out rear wheel steering angle calculation on the real vehicle data to obtain a second rear wheel steering angle; and determining a target rear wheel rotation angle from the first rear wheel rotation angle and a preset rear wheel rotation angle corresponding to the safe state, and controlling rear wheels of the vehicle to steer according to the target rear wheel rotation angle. According to the method, the rear wheel turning angle is calculated in two different modes, systematic failure caused by complex operation can be effectively reduced, the difference value between the rear wheel turning angles calculated in the different modes is restrained, the calculation precision of the target rear wheel turning angle is improved, and therefore the safety of controlling the rear wheel turning angle is improved.

    本发明涉及车辆控制技术领域,尤其涉及一种车辆的后轮转向控制方法、转向控制器、介质及车辆。使用第一后轮转向模型对实车数据进行后轮转角计算,得到第一后轮转角,使用第二后轮转向模型对实车数据进行后轮转角计算,得到第二后轮转角,根据第一后轮转角和第二后轮转角的差异,从第一后轮转角和安全状态对应的预设后轮转角中确定目标后轮转角,根据目标后轮转角,控制车辆的后轮进行转向。本申请中,通过两种不同的方式计算后轮转角,可以有效降低复杂运算带来的系统性失效,通过对不同方式计算的后轮转角之间的差值进行约束,提高目标后轮转角的计算精度,从而提高控制后轮转角的安全性。


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    Title :

    Rear wheel steering control method of vehicle, steering controller, medium and vehicle


    Additional title:

    一种车辆的后轮转向控制方法、转向控制器、介质及车辆


    Contributors:
    LUO ZHAOXIANG (author) / TENG XIAOTAO (author) / LU YANJI (author)

    Publication date :

    2024-07-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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